/*
 * AMZ-Driverless
 * Copyright (c) 2018 Authors:
 *   - Juraj Kabzan <kabzanj@gmail.com>
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 */

#ifndef GAZEBO_CONE_SENSOR_MODEL_HPP
#define GAZEBO_CONE_SENSOR_MODEL_HPP

#include <gazebo/gazebo.hh>
#include <gazebo/sensors/sensors.hh>
#include <ros/ros.h>
#include "cone_sensor_model.hpp"

namespace gazebo {

class ConeSensor : public ModelPlugin {

 public:
    ConeSensor();

    virtual ~ConeSensor();

    virtual void Reset();

    void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);

 private:

    void Update();

    bool isLoopTime(const common::Time &time, double &dt);

    ros::NodeHandle rosnode;

    std::mutex mutex;

    event::ConnectionPtr updateConnection;

    transport::NodePtr gznode;

    ConeSensorModel track_;

    physics::ModelPtr model_;

    common::Time last_sim_time_;
    double       dt_required_;

};
} // namespace gazebo

#endif // GAZEBO_CONE_SENSOR_MODEL_HPP
